CN110608347A - Conveying and positioning device, conveying method and positioning method for working body in pipeline - Google Patents
Conveying and positioning device, conveying method and positioning method for working body in pipeline Download PDFInfo
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- CN110608347A CN110608347A CN201910924641.9A CN201910924641A CN110608347A CN 110608347 A CN110608347 A CN 110608347A CN 201910924641 A CN201910924641 A CN 201910924641A CN 110608347 A CN110608347 A CN 110608347A
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- 238000000034 method Methods 0.000 title claims abstract description 30
- 239000010720 hydraulic oil Substances 0.000 claims description 54
- 238000005086 pumping Methods 0.000 claims description 3
- 238000005553 drilling Methods 0.000 abstract description 10
- 238000012423 maintenance Methods 0.000 abstract description 4
- 238000005520 cutting process Methods 0.000 description 15
- 239000007788 liquid Substances 0.000 description 6
- 230000032258 transport Effects 0.000 description 5
- 238000009434 installation Methods 0.000 description 3
- 230000010354 integration Effects 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000004323 axial length Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000000452 restraining effect Effects 0.000 description 1
- 239000007858 starting material Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/38—Constructional aspects of the propulsion means, e.g. towed by cables driven by fluid pressure
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- Pipe Accessories (AREA)
Abstract
The invention discloses a conveying and positioning device, a conveying method and a positioning method for a working body in a pipeline, which comprise a first rubber plug, a flexible pipe and a second rubber plug, wherein one end of the flexible pipe penetrates through the first rubber plug and the second rubber plug to be connected with the working body, and the other end of the flexible pipe is connected with a hydraulic pump; the pipe wall hole has been seted up to flexible pipe outer wall between first rubber buffer and the second rubber buffer. It is possible to feed a device for pipe processing or maintenance into the interior of the pipe. Can transport the working body smoothly to the pipeline in, realize that the pipeline is inside to carry out drilling processing, maintenance, finishing etc. and be applicable to the straight tube and the return bend of various models.
Description
Technical Field
The invention belongs to the technical field of pipeline finishing, and relates to a conveying and positioning device for a working body in a pipeline, a conveying method for the working body in the pipeline, and a positioning method for the conveying and positioning device for the working body in the pipeline.
Background
The pipeline is a common part in production and life, and comprises a straight pipe and an elbow pipe. Due to poor openness of the pipeline, operations such as drilling, overhauling and finishing the inner wall of the pipeline are very difficult, for example, drilling a hole at a specific position inside the pipeline, installing a sensor, or checking a damaged position inside the pipeline are needed. Straight pipes and, as such, the difficulty of achieving this is even greater for bent pipes.
The method mainly shows two aspects, namely how to send the processing or overhauling device into the pipeline, and how to obtain the specific advancing position of the processing or overhauling device after the processing or overhauling device enters the pipeline, so as to realize positioning; both of the above aspects are currently difficult to implement.
Disclosure of Invention
The first object of the present invention is to provide a device for transporting and positioning a working object in a pipeline, which can accurately transport the working object to the inside of different types of pipelines.
The second purpose of the invention is to provide a method for conveying the working body in the pipeline.
The third invention aims to provide a method for conveying and positioning the working body in the pipeline, which can accurately position the working body conveyed in the pipeline.
The first technical scheme adopted by the invention is as follows: a conveying and positioning device for a working body in a pipeline comprises a first rubber plug, a flexible pipe and a second rubber plug, wherein one end of the flexible pipe penetrates through the first rubber plug and the second rubber plug to be connected with the working body, and the other end of the flexible pipe is connected with a hydraulic pump; the pipe wall hole has been seted up to flexible pipe outer wall between first rubber buffer and the second rubber buffer.
A first feature of the present invention is also that,
the flowmeter is installed to the one end that the work body was kept away from to the second rubber buffer.
The first rubber stopper forms interference fit with the pipeline.
The second rubber buffer forms clearance fit with the inside of pipeline.
The cable is arranged in the flexible pipe and connected with the working body.
The second technical scheme adopted by the invention is as follows:
a method for conveying a working body in a pipeline comprises the following specific steps:
step 1: defining the inner diameter of the pipeline; selecting a corresponding first rubber plug and a corresponding second rubber plug according to the inner diameter of the pipeline;
step 2: initializing a working state; evacuating the interior of the flexible tube, and tightly attaching a second rubber plug to the first rubber plug to ensure that the second rubber plug is in front and the first rubber plug is behind; then the first rubber plug and the second rubber plug are plugged into the opening of the pipeline together, so that the tail end of the first rubber plug is just level with the plane of the port of the pipeline;
and step 3: a forward stroke; starting a hydraulic pump, injecting hydraulic oil into the flexible pipe through the hydraulic pump, wherein the hydraulic oil flows through the flowmeter and the flexible pipe and enters a cavity formed by the inner wall of the pipeline, the first rubber plug and the second rubber plug through the pipe wall hole; at the moment, the first rubber plug is in interference fit with the interior of the pipeline and keeps still; the second rubber plug is in clearance fit with the pipeline, and the second rubber plug moves towards the interior of the pipeline under the pushing of the pressure of the hydraulic oil; the second rubber plug drives the flexible pipe and the working body to move towards the pipeline;
and 4, step 4: a retraction stroke; according to the retraction stroke, the hydraulic oil in the pipeline is pumped back into the hydraulic pump, and the second rubber plug starts to retract due to the negative pressure of the pipeline caused by pumping away the hydraulic oil; if the pressure difference in the pipeline is not enough to enable the second rubber plug to smoothly return, a pulling force is applied to the flexible pipe to pull the second rubber plug back, when the resistance of the flexible pipe during pulling is very large, an air gap and negative pressure in a closed space formed by the first rubber plug, the second rubber plug, the pipeline and the flexible pipe completely disappear, and the second rubber plug drives the working body to return to the position.
The third technical scheme adopted by the invention is as follows:
a method for positioning a working body in a pipeline specifically comprises the following steps:
step A: measuring the distance l travelled by the flexible tube1(ii) a Taking the initial state in the step 2 as a starting point of the flexible pipe; after a flexible pipe outside the pipeline is straightened, setting a reference point on the flexible pipe; after the flexible pipe is brought into the pipeline by the second rubber plug, the advancing distance of the reference point is measured, namely the advancing distance l of the flexible pipe1；
And B: calculating the volume V of hydraulic oil in the pipeline1(ii) a The hydraulic oil flow measured by a known flowmeter is V0(ii) a The distance between the mounting position of the flowmeter and the joint of the flexible pipe and the second rubber plug is l2The inner diameter of the flexible pipe is d1Outer diameter of D1The outer diameter of the cable is d2Volume V of hydraulic oil in the pipe1Comprises the following steps:
and C: calculating the volume V from the end surface of the opening of the pipeline to the tail end of the second rubber plug; the volume V of which comprises the volume V of hydraulic oil in the inflow conduit1The volume of the first rubber plug and the outer volume V of one section of the flexible pipe in the pipeline2The volume of this section pipeline of pipeline opening terminal surface to second rubber buffer tail end promptly is:
V＝V1+V2 (2)
wherein the sum V of the volume of the first rubber plug and the external volume of one section of the flexible pipe positioned in the pipeline 12Comprises the following steps: let the length of the first rubber plug be l3The inner diameter of the pipe is d3And then:
step D: calculating the position of the second rubber plug in the pipeline; the inner diameter of the known pipe being d3The curve parameter equation of the central axis of the pipeline is as follows:
x＝x(t),y＝y(t),z＝z(t) (4)
wherein t is a variable of a parameter equation, and each value of t corresponds to a position on the central axis of the pipeline;
the volume of a certain section of the pipeline is calculated by adopting a definite integral method, namely the volume V in the section of the pipeline with a being more than or equal to t being more than or equal to b in the pipeline is calculated by the following formula:
wherein a is the initial position of the pipeline, and b is the position of the tail part of the second rubber plug on the pipeline; the combination formula includes:
wherein, V1+V2The value of (b) can be obtained from the equations (1) and (2), a is the initial position of the pipe, and the value of b can be calculated, namely the position of the second rubber plug in the pipe.
The invention has the beneficial effects that:
(1) according to the conveying and positioning device for the working body in the pipeline, the first rubber plug, the second rubber plug and the working body are conveyed into the pipeline, hydraulic oil is input into the flexible pipe through the hydraulic pump, the first rubber plug is kept still due to interference fit, and the second rubber plug is pushed under the pressure of the hydraulic oil and moves towards the interior of the pipeline; because the flexible tube links to each other with the afterbody of second rubber buffer, consequently the motion of second rubber buffer also can drive flexible tube and move to the pipeline, send the working body into pipeline optional position. The working body can be freely selected according to the working requirement. The conveying and positioning device for the working body in the pipeline, provided by the invention, can be suitable for various straight pipes and bent pipes due to the adoption of the first rubber plug and the second rubber plug. The conveying and positioning device for the working body in the pipeline can convey a device for processing or overhauling the pipeline into the pipeline.
(2) A method for transporting a working body in a pipeline comprises the steps that a first rubber plug and a second rubber plug in a device for transporting and positioning the working body in the pipeline are adopted, hydraulic oil is injected into a flexible pipe, the first rubber plug is kept still due to interference fit, and the second rubber plug is pushed under the pressure of the hydraulic oil and moves towards the interior of the pipeline; can transport the working body smoothly to the pipeline in, realize that the pipeline is inside to carry out drilling processing, maintenance, finishing etc. and be applicable to the straight tube and the return bend of various models.
(3) A method for positioning the conveying and positioning unit of working body in pipeline includes calculating the moving distance l of flexible tube1The volume of hydraulic oil in the pipeline, the volume V from the opening end face of the pipeline to the tail end of the second rubber plug and the position of the second rubber plug in the pipeline are solved according to the volume V from the opening end face of the pipeline to the tail end of the second rubber plug, namely the concrete position of the working body advancing in the pipeline can be accurately known, and the positioning of the working body is realized.
Drawings
FIG. 1 is a schematic structural view of a conveying and positioning device for a working body in a pipeline according to the present invention;
FIG. 2 is a partially enlarged view of the portion A in FIG. 1;
FIG. 3 is a schematic structural view of a pipe inner wall cutting and finishing apparatus in a second embodiment of the device for conveying and positioning the working body in the pipe according to the present invention;
FIG. 4 is a perspective view of a pipe inner wall cutting and finishing device in a second embodiment of the device for conveying and positioning the working body in the pipe according to the present invention;
fig. 5 is an exploded view of a pipe inner wall cutting and finishing device in a second embodiment of the device for conveying and positioning the working body in the pipe according to the present invention.
In the figure, 1, a pipeline, 2, a first rubber plug, 3, a flexible pipe, 301, a pipe wall hole, 4, a universal joint, 5, a second rubber plug, 501, a cavity, 6, a working body, 7, a cavity, 8, a motor, 9, a movable shaft pair, 901, a movable shaft body, 902, a first shaft hole, 903, a first sliding key groove, 10, an input shaft, 1001, an input shaft body, 1002, a sliding key, 1003, a first lug, 11, a universal joint cross, 12, an output shaft, 1201, an output shaft body, 1202, a key, 1203, a second lug, 1204, a second hinge, 13, a bearing, 14, a bearing hoop, 15, a cutter, 1501, a second shaft hole, 1502, a key groove, 1503, an arc-shaped chip winding groove and 16 cables.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
The invention provides a conveying and positioning device for a working body in a pipeline, which comprises a first rubber plug 2, a flexible pipe 3 and a second rubber plug 5, wherein one end of the flexible pipe 3 penetrates through the first rubber plug 2 and the second rubber plug 5 to be connected with a working body 6, and the other end of the flexible pipe 3 is connected with a hydraulic pump; as shown in fig. 2, a tube wall hole 301 is opened on the outer wall of the flexible tube 3 between the first rubber plug 2 and the second rubber plug 5. The hydraulic pump delivers hydraulic oil through the flexible tube 3, which is output through the tube wall holes 301.
As shown in fig. 1 and 2, a flow meter for detecting the volume of the hydraulic oil flowing into the flexible tube 3 is installed at an end of the second rubber stopper 5 remote from the working body 6.
When using, put first rubber buffer 2 at the port of pipeline 1, second rubber buffer 5 is placed in the inside of pipeline 1, forms cavity 7 between 1 inner wall of pipeline, first rubber buffer 2, second rubber buffer 5 and the flexible tube 3 this moment, and the hydraulic pump passes through flexible tube 3 and carries hydraulic oil, and in hydraulic oil got into cavity 7 through pipe wall hole 302, was filled with hydraulic oil in the cavity 7.
The diameter of the first rubber plug 2 is in interference fit with the inner wall of the pipeline 1;
the inner diameter and the outer diameter of the flexible pipe 3 are uniform, the inner wall and the outer wall are smooth, and the hardness and the outer diameter of the flexible pipe are in clearance fit with the through hole in the middle of the first rubber plug 2, which has good liquid tightness;
the diameter of the second rubber plug 5 forms a clearance fit with the inner wall of the conduit 1 with good liquid tightness.
The axial length of the second rubber plug 5 is greater than or equal to the diameter thereof. In order to ensure the consistency of the motion axis vector and the pipeline axis curve when the pipeline moves in the bent pipeline 1, the pipeline 1 cannot be overturned and unstabilized.
In addition, the inner structure of the second rubber plug 5 is not invariable, and according to the installation requirement of the working body 6, the opening of the inner hole of the second rubber plug 5 is grooved or provided with other special installation structures.
Also comprises a cable 16 arranged in the flexible pipe 3, wherein the cable 16 is connected with the working body 6; the cable 16 has a uniform outer diameter and a smooth outer wall. The cable 16 is mainly used for supplying power and control signals to the working body 6.
Example two
The working body 6 is a camera; when needs overhauld 1 inner wall of pipeline, change into the camera of taking the light with work body 6, the camera is shot to 1 inner wall of pipeline and is recorded a video and can learn the condition of 1 inner wall of pipeline.
The working body 6 is a drilling device; when drilling operation is required on the inner wall of the pipeline 1, the working body 6 is replaced by a common drilling device with a drill bit.
The working body 6 is a pipeline inner wall cutting and finishing device; the pipe inner wall cutting and finishing device can perform uniform cutting and finishing on the inner wall of the bent pipe 1.
It should be noted that the working body 6 is not limited to the above embodiments, and may be any device for performing other operations in the pipeline 1.
It should be noted that if the work 6 drills the inside of the pipeline 1, the existence of the hole affects the liquid tightness between the second rubber plug 5 and the inner wall of the pipeline 1, and a backspacing type drilling mode is adopted, namely, the second rubber plug 5 and the working body 6 are firstly sent to the farthest position to be drilled in the pipeline 1, the second rubber plug 5 and the working body 6 are backspacing after the first hole is drilled, then the second hole is drilled, then the third hole is drilled after backspacing, and so on, and all drilling processes are completed;
the working body 6 performs material reduction processing on the inner wall of the pipeline 1, so that the volume in the pipeline 1 is influenced, an error occurs when the second rubber plug 5 is positioned, and the influence of the material reduction on the volume of the pipeline 1 needs to be considered;
the working body 6 is a pipe inner wall cutting and finishing device, and the specific structure of the internal cutting and finishing device is as follows:
as shown in fig. 3-5, including second rubber buffer 5, second rubber buffer 5 is inside to be equipped with cavity 501, and second rubber buffer 5 is inside to be equipped with the motor mounting groove, is equipped with motor 8 in the motor mounting groove, installs loose axle pair 9 in motor 8's the pivot, and loose axle pair 9 connects the input shaft 10 of universal joint 4, installs cutter 15 on the output shaft 12 of universal joint 4.
The output shaft 12 of the universal joint 4 is connected with an inner ring of a bearing 13 in a matching way, and the bearing 13 is used for restraining the output shaft 12 of the universal joint to rotate around the axis of the bearing 13.
A bearing yoke 14 is attached to the outer ring of the bearing 13, the bearing yoke 14 being adapted to restrain the outer ring of the bearing 13.
The bearing hoop 14 is arranged at the opening of the cavity 501, and the outer ring of the bearing hoop 14 is in interference fit with the cavity 501.
The radial distance of the cutters 15 is equal to the diameter of the second rubber stopper 5.
As shown in fig. 5, the movable shaft pair 9 includes a movable shaft body 901, a first shaft hole 902 is formed in the movable shaft body 901 in the axial direction, and a rotating shaft of the motor 8 is installed in the first shaft hole 902; a first sliding key groove 903 is formed in the inner wall of the shaft hole 902 in the direction of a generatrix;
the universal joint 4 comprises an input shaft 10, and the input shaft 10 is connected with an output shaft 12 through a universal joint cross 11;
the input shaft 10 comprises an input shaft body 1001, a sliding key 1002 is welded on the surface of the input shaft body 1001, the sliding key 1002 can be embedded into the first sliding key groove 903, and the sliding key 1002 and the first sliding key groove 903 are in clearance fit; the number of the sliding keys 1002 is matched with the number and distribution of the first sliding key grooves 903;
two first lugs 1003 are integrally connected to the end of the input shaft 1001, and each first lug 1003 is provided with a first hinge hole 1004;
the output shaft 12 comprises an output shaft body 1201, one end part of the output shaft body 1201 is integrally connected with two second lugs 1203, each second lug 1203 is provided with a second hinge hole 1204, and the second hinge holes 1004 and the first hinge holes 1204 are both connected with the universal joint cross 11;
the output shaft body 1201 is welded with a key 1202 on the surface.
The cutter 15 comprises a cutter body, a plurality of cutter teeth are distributed on the cutter body along the circumferential direction of the cutter body, an arc chip coiling groove 1503 is arranged at the end part of each cutter tooth, and the arc chip coiling groove 1503 is used for discharging chips and changing the chip coiling direction;
the cutter body further comprises a second shaft hole 1501 formed in the center in the axial direction, the second shaft hole 1501 is provided with a key groove 1502, the second shaft hole 1501 is matched with the shaft body 1201 of the output shaft 12, and the key groove 1502 is matched with the key 1202.
The using method of the cutting and finishing device has the following corresponding working principle:
and initializing the working state. The suitable second rubber buffer 5 of lectotype and cutter 15 after connecting the installation of pipeline inner wall cutting finishing device, starter motor 8 makes cutter 15 rotatory and keep the cutting state, keeps cutter one end in the front slowly to plug second rubber buffer 5 into in the port of pipeline 1.
The principle is realized by cutting and finishing the inner wall of the pipeline and turning in a cutting state. Hydraulic oil promotes second rubber buffer 5 and advances toward pipeline 1 is inside, because second rubber buffer 5 is flexible, consequently meet the place of turning round, the front end of second rubber buffer 5 also turns round thereupon, the bearing clamp 14 that is located second rubber buffer 5 front end simultaneously takes place synchronous deflection thereupon, because the output shaft 12 of universal joint is can deflect, consequently bearing clamp 14's deflection can drive bearing 13 and universal joint output shaft 12 and turn to, so 15 cutting advancing direction also changes along with the bending of pipeline 1, realize the turn of cutting state.
EXAMPLE III
A method for conveying a working body in a pipeline adopts a positioning device for conveying the working body in the pipeline in the first embodiment to convey the working body, and comprises the following specific steps:
step 1: measuring the inner diameter of the pipeline; the inside diameter of the pipe is measured using an inside diameter measuring device, such as a vernier caliper, and this step can be skipped if the inside diameter is known.
Step 2: initializing a working state; selecting a corresponding first rubber plug 2 and a corresponding second rubber plug 5 according to the inner diameter of the pipeline, and then emptying the interior of the flexible pipe 3, wherein if hydraulic oil remains in the flexible pipe 3, the flexible pipe needs to be evacuated by a hydraulic pump; or blowing high-speed airflow into the flexible pipe 3 to discharge hydraulic oil in the flexible pipe 3, and then connecting a working body conveying and positioning device in the pipeline 1. Then hug closely the afterbody of second rubber buffer 5 and the head of first rubber buffer 2, keep second rubber buffer 5 in the front, first rubber buffer 2 is back, and first rubber buffer 2 fills in the opening part of pipeline 1 with second rubber buffer 5 together, makes the afterbody (being terminal) of first rubber buffer 2 just with the port plane parallel and level of pipeline 1.
And step 3: a forward stroke; hydraulic oil is injected into the flexible pipe 3 through a hydraulic pump; hydraulic oil flows through the flowmeter, the flexible pipe 3 and the pipe wall hole 301, and finally enters the cavity 7 formed by the inner wall of the pipeline 1, the first rubber plug 2 and the second rubber plug 5. Because the first rubber plug 2 is in interference fit with the inner wall of the pipeline 1, and the second rubber plug 5 is in clearance fit with the inner wall of the pipeline 1 with good liquid tightness, after hydraulic oil is injected, the first rubber plug 2 is kept still due to the interference fit, and the second rubber plug 5 is pushed under the pressure of the hydraulic oil and moves towards the inside of the pipeline 1; because the one end of flexible pipe 3 passes first rubber buffer 2, second rubber buffer 5 and is connected with working body 6, consequently the motion of second rubber buffer 5 also can drive flexible pipe 3 to pipeline 1 internal motion.
And 4, step 4: and retracting the second rubber stopper 5. According to the requirement of the retraction stroke, a part of hydraulic oil in the pipeline 1 is pumped back into the hydraulic pump, and the second rubber plug 5 starts to retract due to negative pressure caused by pumping away the hydraulic oil; if the pressure difference in the pipeline 1 is not enough to overcome the friction force to enable the second rubber plug 5 to smoothly return, then the pulling force can be applied to the flexible pipe 3 to pull the second rubber plug 5 back, when the resistance when the flexible pipe 3 is pulled reaches a very large value, the air gap and the negative pressure in the closed space formed by the first rubber plug 2, the second rubber plug 5, the inner wall of the pipeline 1 and the outer wall of the flexible pipe 3 completely disappear, and the second rubber plug 5 and the working body on the second rubber plug 5 return to the place.
Example four
A method for positioning a working body in a pipeline is based on positioning in the conveying process of the working body in the pipeline,
step A: measuring the distance l travelled by the flexible pipe 31(ii) a Straightening the flexible pipe 3 outside the pipeline 1 by taking the initial state in the step 2 as the starting point of the advancing of the flexible pipe 3, searching a reference point on the flexible pipe 3, such as the position for installing a flowmeter, and measuring the advancing distance of the reference point when the flexible pipe 3 is carried by the second rubber plug 5 to advance towards the interior of the pipeline 1, so as to obtain the advancing distance l of the flexible pipe 31。
And B: the volume of hydraulic oil in the pipe 1 is calculated. The flowmeter can measure the total amount of hydraulic oil flowing through, the distance from the mounting position of the flowmeter to the joint of the flexible pipe 3 and the second rubber plug 5 is known in mounting flow timing, the inner diameter and the outer diameter of the flexible pipe 3 are known according to model selection, and if the flexible pipe 3 further comprises a cable 16, the outer diameter of the cable 16 is also known according to model selection, the volume of the hydraulic oil in the flexible pipe 3 can be obtained through calculation. It is assumed that the hydraulic oil flow measured by the flowmeter is V0The distance between the mounting position of the flowmeter and the joint of the flexible pipe 3 and the second rubber plug 5 is l2The inner diameter of the flexible pipe 3 is d1Outer diameter of D1And the outer diameter of the cable 16 is d2Since the cable 16 is built into the flexible tube 3, the length of the cable 16 between the flowmeter mounting position and the junction of the flexible tube 3 and the secondary rubber stopper 5 should also be longIs a2Volume V of hydraulic oil flowing into the pipe 11Comprises the following steps:
and C: the volume V from the open end face of the tube 1 to the end (tail end) of the second rubber stopper 5 is calculated. V1Is the volume of the hydraulic oil flowing into the pipeline, but not the volume V of the section of the pipeline 1 from the opening end surface of the pipeline 1 to the tail end of the second rubber plug 5, and the volume V comprises the volume V of the hydraulic oil flowing into the pipeline 11The device also comprises the volume of the first rubber plug 2 and the outer volume of one section of the flexible pipe 3 in the pipeline 1. The volume of the first rubber plug 2 is known according to its type, assuming now that the length of the first rubber plug 2 is l3The inner diameter of the pipe 1 is d3The sum V of the volume of the first rubber plug 2 and the external volume of the section of the flexible tube 3 located in the pipeline 12Comprises the following steps:
the volume V of the section from the opening end face of the tube 1 to the tail end of the second rubber plug 5 is:
V＝V1+V2 (3)
step D: solution of the position of the second rubber stopper 5 in the tube 1. Knowing the curve function of the central axis of the tube 1, the position of the second rubber stopper 5 in the tube 1 can be found according to the value of the volume V of the section of the tube from the opening end face of the tube 1 to the tail end of the second rubber stopper 5 in the formula (3).
In the step D, reversely pushing the position implementation mode of the second rubber plug 5 by using the volume V; knowing the curve function of the central axis of the conduit 1 and the volume V in the conduit 1 from the starting position of the conduit 1 to the tail of the second rubber plug 5, the position of the tail of the second rubber plug 5 on the curve function of the central axis of the conduit 1, i.e. the position of the second rubber plug 5 in the conduit 1, can be obtained. The specific calculation method is as follows:
the inner diameter of the known circular pipe 1 is d3Knowing the centre of the circular pipe 1When the parameter equation of the axis is used, the volume of a certain section of the axis can be calculated by adopting a fixed integral method. Namely, the curve parameter equation of the central axis of the bent pipe:
x＝x(t),y＝y(t),z＝z(t) (4)
wherein t is a variable of the parameter equation, and each value of t corresponds to a position on the central axis of the circular pipeline 1, then the formula for calculating the volume V in the section of the pipeline 1 where a is more than or equal to t is more than or equal to b is as follows:
v obtained by the equations (3) and (5) is the volume of the tube 1, and now, if the lower integral limit t is defined as a and the upper integral limit t is defined as b and the tail of the second rubber plug 5 is located, then:
and t is a known position with the starting point of the tube, so that when the parametric equation of the central axis of the tube is known, the value of a is also known, and the position where the tail of the second rubber plug 5 is located, i.e. the value of b, is the value to be solved for realizing the positioning of the second rubber plug 5.
In the formula (6), V1+V2Can be obtained from equations (1) and (2), and thus for the integral to the right of the equationThe value of b can be obtained by calculating the upper limit of integration by using the method of the known integration value and the known lower limit of integration in the calculus. Obtaining the value of b also realizes the positioning of the tail part of the second rubber plug 5.
In this way, according to the conveying and positioning device for the working body in the pipeline, the first rubber plug 2, the second rubber plug 5 and the working body 6 are conveyed into the pipeline 1, hydraulic oil is input into the flexible pipe 3 through the hydraulic pump, and the hydraulic oil enters the space among the first rubber plug 2, the second rubber plug 5 and the flexible pipe 3 through the pipe wall hole 302 to form the cavity 7, so that the cavity 7 is filled with the hydraulic oil; the diameter of the first rubber plug 2 is in interference fit with the inner wall of the pipeline 1; the diameter of the second rubber plug 5 and the inner wall of the pipeline 1 form clearance fit with good liquid tightness; therefore, after the hydraulic oil is injected, the first rubber plug 2 is kept still due to the interference fit, and the second rubber plug 5 is pushed under the pressure of the hydraulic oil and moves towards the inside of the pipeline 1; the working body 6 is pushed by the second rubber plug 5 to move towards the interior of the pipeline 1; because flexible tube 3 links to each other with the afterbody of second rubber buffer 5, consequently the motion of second rubber buffer 5 also can drive flexible tube 3 and move in pipeline 1. The working body 6 can be freely selected according to the working requirement. The conveying and positioning device for the working body in the pipeline, disclosed by the invention, can be suitable for various straight pipes and bent pipes due to the adoption of the first rubber plug 2 and the second rubber plug 5. The conveying and positioning device for the working body in the pipeline can convey a device for processing or overhauling the pipeline into the pipeline.
A transport method of working body in the pipeline, because adopt the first rubber stopper 2, second rubber stopper 5 in the working body transports the locating device in the pipeline, the flexible pipe 3 pours into the hydraulic oil, because the first rubber stopper 2 is interference fit with the inner wall of pipeline 1, and the second rubber stopper 5 is clearance fit with good liquid tightness of the inner wall of pipeline 1, therefore after pouring into the hydraulic oil, the first rubber stopper 2 keeps motionless because of interference fit, the second rubber stopper 5 is pushed under the pressure of the hydraulic oil, and move to the inside of pipeline 1; the flexible tube 3 is connected with the tail part of the second rubber plug 5, so the movement of the second rubber plug 5 can drive the flexible tube 3 to move towards the inside of the pipeline 1; can transport the working body 6 smoothly to the pipeline in, realize that the pipeline is inside to carry out drilling processing, maintenance, finishing etc. and be applicable to the straight tube and the return bend of various models.
A method for positioning the conveying and positioning device of working body in pipeline includes calculating the distance l between flexible tube 3 and working body1The volume of hydraulic oil in the pipeline 1, the volume V from the opening end surface of the pipeline 1 to the tail end of the second rubber plug 5 and the position of the second rubber plug 5 in the pipeline 1 are obtained according to the volume V from the opening end surface of the pipeline 1 to the tail end of the second rubber plug 5, so that the working body 6 can be accurately known to be in the pipeline 1The concrete position of marching in the pipeline 1 realizes the location to the working body. A positioning method of a conveying and positioning device for a working body in a pipeline can position the position of a device for processing or overhauling the pipeline in the pipeline, has important significance for processing or overhauling in the pipeline, and has wide application in engineering application.
Claims (7)
1. The conveying and positioning device for the working body in the pipeline is characterized by comprising a first rubber plug (2), a flexible pipe (3) and a second rubber plug (5), wherein one end of the flexible pipe (3) penetrates through the first rubber plug (2), the second rubber plug (5) is connected with a working body (6), and the other end of the flexible pipe (3) is connected with a hydraulic pump; first rubber buffer (2) with pipe wall hole (301) have been seted up to flexible pipe (3) outer wall between second rubber buffer (5).
2. The conveying and positioning device for the working body in the pipeline as claimed in claim 1, wherein a flowmeter is installed at one end of the second rubber plug (5) far away from the working body (6).
3. A device for transporting and positioning a working body in a pipeline as claimed in claim 1, wherein the first rubber plug (2) forms an interference fit with the pipeline (1).
4. A positioning device for transporting working bodies inside pipes according to claim 1, characterized in that the second rubber plug (5) forms a clearance fit with the inside of the pipe (1).
5. An in-duct working body transport positioning device according to claim 1 or 2, further comprising a cable (16) mounted in the flexible tube (3), the cable (16) being connected to the working body (6).
6. The conveying method of the working body in the pipeline is characterized in that the conveying and positioning device of the working body in the pipeline based on the claims 1-4 comprises the following specific steps:
step 1: defining the inner diameter of the pipeline (1); selecting a corresponding first rubber plug (2) and a corresponding second rubber plug (5) according to the inner diameter of the pipeline (1);
step 2: initializing a working state; evacuating the interior of the flexible pipe (3), and tightly attaching a second rubber plug (5) to the first rubber plug (2) to ensure that the second rubber plug (5) is in front and the first rubber plug (2) is behind; then the first rubber plug (2) and the second rubber plug (5) are plugged into the opening of the pipeline (1) together, so that the tail end of the first rubber plug (2) is just level with the plane of the port of the pipeline (1);
and step 3: a forward stroke; starting a hydraulic pump, injecting hydraulic oil into the flexible pipe (3) through the hydraulic pump, wherein the hydraulic oil flows through the flowmeter and the flexible pipe (3) and enters a cavity (7) formed by the inner wall of the pipeline 1, the first rubber plug (2) and the second rubber plug (5) through the pipe wall hole (301); at the moment, the first rubber plug (2) is in interference fit with the interior of the pipeline (1), and the first rubber plug (2) is kept still; the second rubber plug (5) is in clearance fit with the pipeline (1), and the second rubber plug (5) moves towards the interior of the pipeline (1) under the pushing of the pressure of hydraulic oil; the second rubber plug (5) drives the flexible pipe (3) and the working body (6) to move towards the inside of the pipeline (1);
and 4, step 4: a retraction stroke; according to the retraction stroke, the hydraulic oil in the pipeline (1) is pumped back into the hydraulic pump, and the second rubber plug (5) starts to retract due to the negative pressure of the pipeline (1) caused by pumping away the hydraulic oil; if the pressure difference in the pipeline (1) is not enough to enable the second rubber plug (5) to smoothly return, then apply pulling force to the flexible pipe (3), drag the second rubber plug (5) back, when the resistance when the flexible pipe (3) is pulled reaches a very large value, air gaps and negative pressure in a closed space formed by the first rubber plug (2), the second rubber plug (5), the pipeline (1) and the flexible pipe (3) completely disappear, and the second rubber plug (5) drives the working body (6) to return to the place.
7. A method for positioning a working body in a pipeline is characterized in that the method for conveying the working body in the pipeline based on claim 6 specifically comprises the following steps:
step A: measuring the travel distance l of the flexible pipe (3)1(ii) a In the initial state in step 2The state is taken as the starting point of the flexible pipe (3) in advancing; after a flexible pipe (3) positioned outside the pipeline (1) is straightened, setting a reference point on the flexible pipe (3); after the flexible pipe (3) is brought into the pipeline (1) by the second rubber plug (5), the advancing distance of the reference point is measured, namely the advancing distance l of the flexible pipe (3)1；
And B: calculating the volume V of hydraulic oil in the pipe (1)1(ii) a The hydraulic oil flow measured by a known flowmeter is V0(ii) a The distance between the mounting position of the flowmeter and the joint of the flexible pipe (3) and the second rubber plug (5) is l2The inner diameter of the flexible pipe (3) is d1Outer diameter of D1The outer diameter of the cable (16) is d2The volume V of the hydraulic oil in the pipe (1)1Comprises the following steps:
and C: calculating the volume V from the opening end surface of the pipeline (1) to the tail end of the second rubber plug (5); the volume V of the hydraulic oil comprises the volume V of the hydraulic oil in the inflow pipeline (1)1The volume of the first rubber plug (2) and the outer volume V of one section of the flexible pipe (3) in the pipeline (1)2The volume of this section pipeline of pipeline (1) opening terminal surface to second rubber buffer (5) tail end promptly is:
V＝V1+V2 (3)
wherein the sum V of the volume of the first rubber plug (2) and the external volume of one section of the flexible pipe (3) positioned in the pipeline 12Comprises the following steps: the length of the first rubber plug (2) is set as l3The inner diameter of the pipeline (1) is d3And then:
step D: calculating the position of a second rubber plug (5) in the pipeline (1); the inner diameter of the pipe (1) is known as d3The curve parameter equation of the central axis of the pipeline (1) is as follows:
x＝x(t),y＝y(t),z＝z(t) (4)
wherein t is a variable of the parametric equation, and each value of t corresponds to a position on the central axis of the pipeline (1);
the volume of a certain section of the pipeline (1) is calculated by adopting a definite integral method, namely the formula for calculating the volume V in the section of the pipeline with a being more than or equal to t being more than or equal to b in the pipeline (1) is as follows:
wherein a is the initial position of the pipeline (1), and b is the position of the tail part of the second rubber plug (5) in the pipeline (1); in conjunction with equation (3), there is:
wherein, V1+V2The value of (b) can be obtained by the formula (1) and the formula (2), a is the initial position of the pipeline (1), and then the value of b can be calculated, namely the position of the second rubber plug (5) in the pipeline (1) is calculated.
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| CN110608347B (en) | 2021-04-06 |
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